TY - GEN
T1 - Coordinated path following control for a group of car-like vehicles with an application to intelligent transportation system
AU - Arad, Itai
AU - Arogeti, Shai
AU - Ronen, Rami
N1 - Publisher Copyright: © 2014 IEEE.
PY - 2014/1/1
Y1 - 2014/1/1
N2 - This paper presents a new control law for the coordinated path following control problem. The paper deals with a group of car-like vehicles, where each vehicle is represented by the bicycle kinematic model. A two layer method is proposed, in which an inner layer is responsible for vehicle convergence to a desired path, and an outer layer is in charge of solving the coordination problem. A chained form model is formulated in the design of the inner control layer. The time derivative of the path parameter is utilized as the control signal of the outer control layer, and it is generated by different modes of operation, such that different modes represent different tasks. The main contribution of this paper stems from the coordination mechanism and its implementations for intelligent transportation system (ITS). The proposed architecture allows each vehicle to carry out a discrete task independently of other vehicle tasks, depending on the current road situation. The control law has been tested using numerical simulations.
AB - This paper presents a new control law for the coordinated path following control problem. The paper deals with a group of car-like vehicles, where each vehicle is represented by the bicycle kinematic model. A two layer method is proposed, in which an inner layer is responsible for vehicle convergence to a desired path, and an outer layer is in charge of solving the coordination problem. A chained form model is formulated in the design of the inner control layer. The time derivative of the path parameter is utilized as the control signal of the outer control layer, and it is generated by different modes of operation, such that different modes represent different tasks. The main contribution of this paper stems from the coordination mechanism and its implementations for intelligent transportation system (ITS). The proposed architecture allows each vehicle to carry out a discrete task independently of other vehicle tasks, depending on the current road situation. The control law has been tested using numerical simulations.
KW - Chained form model
KW - Coordinated path following
KW - Intelligent transportation system
UR - http://www.scopus.com/inward/record.url?scp=84949925062&partnerID=8YFLogxK
U2 - https://doi.org/10.1109/ICARCV.2014.7064280
DO - https://doi.org/10.1109/ICARCV.2014.7064280
M3 - منشور من مؤتمر
T3 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
SP - 59
EP - 64
BT - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
T2 - 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Y2 - 10 December 2014 through 12 December 2014
ER -
